US4504832A - Absolute precision transducer for linear or angular position measurements - Google Patents

Absolute precision transducer for linear or angular position measurements Download PDF

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Publication number
US4504832A
US4504832A US06/125,432 US12543280A US4504832A US 4504832 A US4504832 A US 4504832A US 12543280 A US12543280 A US 12543280A US 4504832 A US4504832 A US 4504832A
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Prior art keywords
pattern
transducer
measurement
members
indication
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Alberto Conte
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SELCA SpA
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SELCA SpA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/25—Selecting one or more conductors or channels from a plurality of conductors or channels, e.g. by closing contacts
    • G01D5/252—Selecting one or more conductors or channels from a plurality of conductors or channels, e.g. by closing contacts a combination of conductors or channels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2073—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to two or more coils
    • G01D5/208—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by movement of a single coil with respect to two or more coils using polyphase currents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/24—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance
    • G01D5/241—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes
    • G01D5/2412—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying overlap
    • G01D5/2415—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying capacitance by relative movement of capacitor electrodes by varying overlap adapted for encoders
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/22—Analogue/digital converters pattern-reading type
    • H03M1/24—Analogue/digital converters pattern-reading type using relatively movable reader and disc or strip
    • H03M1/26—Analogue/digital converters pattern-reading type using relatively movable reader and disc or strip with weighted coding, i.e. the weight given to a digit depends on the position of the digit within the block or code word, e.g. there is a given radix and the weights are powers of this radix

Definitions

  • the present invention refers to an absolute transducer of high precision for linear or angular measurements.
  • the transducer of this invention is formed by an absolute transducer of low precision paired with a cyclic transducer of high precision.
  • Linear or angular high-precision position transducers are known, such as the Inductosyn® transducer; such transducers, however, are only cyclic, that is, the electrical signals supplied by them repeat periodically with the relative displacement between a scale and a slider. With these transducers it is therefore possible to plot the position only within a period or cycle, but it is not possible to identify in which cycle the slider is present relative to the scale.
  • Such a system therefore, measures the displacements exclusively when the electronic system is operative and completely loses the position if the slider is moved with the electronic system off. As the electronic system is restarted, the position indication is lost and the starting reference must be redetermined with the aid of mechanical means.
  • the technical problem which the invention sets out to solve is to obtain an absolute position transducer of low cost, high reliability and easy to integrate with cyclic precision transducers of known type to obtain simultaneously high precision and absolute indication of position.
  • the problem is solved according to the invention with a contactless reading system of a digital code which unambiguously identifies the position of each cycle of a cyclic transducer.
  • the transducer of the invention is characterized by the pairing of a cyclic transducer of known type with a digital transducer having a scale on which is fixed a digital code plotted by means of a slider capacitively, optionally, or inductively.
  • FIG. 1 represents schematically a plan view of a known form of an Inductosyn® type precision transducer on a metal tape;
  • FIG. 2 shows a section along line II--II of FIG. 1;
  • FIG. 3 shows schematically in plan the transducer according to the invention
  • FIG. 4 shows a section along line IV--IV of FIG. 3;
  • FIG. 5 shows in plan, considerably enlarged, a short section of the absolute transducer according to the invention, with indication of a group of pickups of the slider, disposed in a generic reading position;
  • FIG. 6 shows a section along line VI--VI of FIG. 5 with perspective indication of the conductors for connection at the signal output points;
  • FIG. 7 shows a section along line VII--VII of FIG. 5;
  • FIG. 8 shows the course of the output signals from the various pickups suitably processed
  • FIG. 9 shows the diagram of the circuit applied to the device proposed by the invention.
  • FIG. 1 shows a transducer of known type as described in Italian Pat. No. 904,565 (U.S. Pat. No. 3,522,568) formed by a scale 10 comprising an electric winding 11 produced by photo-engraving a conductive strip glued by adhesive 12 on a tape 13 of spring steel and electrically insulated therefrom. The tape is stretched so as to assume the exact length provided during construction and is then rigidly fixed at both ends by screws 14, for example on the side of one of the tables of a machine tool.
  • the transducer comprises also a slider 15 carrying two separate electric windings 16 and 17 constructed by photo-engraving as described for the scale 10.
  • the form of the three windings (two on the slider, one on the scale) is such that, as winding II secured on the scale is excited with an alternating current, there are induced in the two windings 16 and 17 secured on slider 15 potentials proportional respectively to the sine and cosine function of the electrical angle between the winding of scale 10 and that of slider 15 relative to a scale cycle (it being undrstood that an angle of 360° corresponds to one scale cycle).
  • FIG. 3 illustrates the transducer of the invention constructed by using the same technique and for the most part the same devices as for the above described known transducer.
  • the new type of transducer 19 carries on a conductive strip 20 insulated from the steel support 21, in addition to the winding 22 of the cyclic transducer of known type, an absolute transducer 23 formed by two conductive zones 24 and 25 electrically separated from each other by a photo-engraved cut 26 which forms the digital position coding.
  • the photo-engraved separating line has a form such as to generate a Gray type binary code.
  • FIG. 5 A greatly enlarged plan view of this codified zone is illustrated in FIG. 5, where the zone is subdivided into codified strips A, B, C, D, E and F of incresasing binary weight. If, for example, twelve codified strips are used, 2 12 positions will be codified strips are shown in FIG.
  • the slider 27 presents, in addition to the windings 28 and 29 entirely similar to the windings 16 and 17 described in the known type, a series of pickups 30, 31, 32, 33, 34 and 35 photo-engraved on the slider 27.
  • FIGS. 6 and 7 an enlarged section of the transducer 19 and of the slider 27 face to face in their normal working position.
  • the reading of the code occurs by means of the pickups photo-engraved on the slider 27 best shown in FIGS. 6 and 7, held by known means at a distance of a few tenths of a millimeter from the scale 19.
  • the slider 27 is constructed by photo-engraving and is, in fact, a normal printed circuit with metallized holes 40 to interconnect, where necessary, the two photo-engraved faces.
  • the part of the slider held in front of the scale has photo-engraved on it metallized conductors 41, which as has been seen are also said pickups, completely surrounded by a conductive strip 42 isolated from them by the photo-engraved cut 43; there is on the slider 27 a conductor for each binary weight codified on the scale.
  • the conductive part 42 serves as shield so that each conductor 41 is capacitively coupled only with the codified strip of the corresponding digital weight.
  • part 21 is formed by a supporting steel tape
  • layer 44 is the adhesive and insulation which holds the conductive layer 23.
  • the photo-engraved cut 26 electrically separates the conductive foils 24 and 25 so that they can be connected to sources of different potentials.
  • the two foils are in fact connected to two sources of alternating potential of the same frequency but opposite phase, namely foil 25 is connected to the X phase of oscillator 45 of FIG. 5, and foil 24 to the Y phase.
  • the conductor 41 When the conductor 41 is centered on the photo-engraved cut 26, being thus coupled with both foils 24 and 25, the voltage capacitively induced on the conductor 41 will tend to zero, that is, to the mean of the values induced between phase X and phase Y. Therefore, by noting the phase of the voltage induced on conductor 41, it can be learned on which codified foil, e.g. 24 or 25 of FIG. 7, the conductor is located. To do this, there is placed in the rear face of the slider, i.e.
  • an amplifier schematically indicated by 53 followed by a synchronous detector schematically indicated by 56 (the latter devices will be described and illustrated later on) appropriately phased so as to have as output a d-c voltage of one polarity when the conductor is on foil 24 and of opposite polarity when it is on foil 25.
  • the above mentioned amplifier is placed very close to conductor 30 to minimize the attenuation of the signal due to stray capacity.
  • the synchronous detector 56 is followed by a threshold circuit 57--it, too, will be better illustrated hereafter--with the threshold positioned at zero volt and with binary output.
  • each of the conductors or pickups is connected to a circuit as described above, namely amplifier, synchronous detector and binary threshold circuit, there occurs at the output of the threshold circuits a code corresponding to the one photo-engraved on the conductive foil of the scale and corresponding to the position in which the pickups are relative to the scale.
  • the circuit illustrated in FIG. 9 is used. Instead of using a separate channel for each pickup as previously illustrated, a single amplification and detection channel is used switched toward the various pickups by means of cheap electronic switches.
  • a slider 27 has been shown provided with twelve pickups rather than six as described and illustrated before; this, of course, leaves unchanged the characteristics of the device, but allows the connected circuit to be described in the most general and complex case.
  • the desired connected between pickups and amplification and detection chain is established by means of a selection code applied to lines 55 from a central control unit.
  • the central control unit is of substantially known type, formed for example by a microprocessor unit programmed to control the selection lines 55 as well as the acquisition of the data of line 58 and the lines 59.
  • Amplifier 53 is followed by a synchronous detector 56 and by a threshold circuit 57 (with threshold at zero) having a small hysteresis to obtain at output 58 stable binary switchings.
  • the synchronous detector 56 is actuated by means of line 62 by a closing control of switch 63 which is short in relation to the period of oscillator 45 (see also FIG. 5) which excites the scale of the absolute transducer.
  • This control pulse is synchronous and phased with respect to oscillator 45 so as to sample the signal coming from the pickups placed on the slider at the peak of the maximum signal.
  • Switch 63 is followed by the memory capacitor 65, the potential of which is cyclically revised (updated) to the--positive or negative--peak value of the signal applied at point 66.
  • the selection lines 55 by controlling with a binary sequence the selection lines 55, one obtains at the output 58, in serial form, that is, in succession in time, a code corresponding to that photo-engraved on the conductive foil of scale 23 and corresponding to the position of the pickups 30 to 35 relative to the scale.
  • a similar amplification system is used to amplify the signals coming from the two windings 28 and 29 of slider 27, of the cyclic transducer.
  • the system is formed by two electronic switches of the integrated circuit 52 which serve to select, controlled by the selection lines 55, the sine channel or the cosine channel of slider 27 of the Inductosyn type cyclic transducer; to the switches is connected an amplifier 60 followed by a synchronous detector 71.
  • Detector 71 is similar to the previously described detector 56, but synchronized with the oscillator 18 which feeds the scale of the cyclic transducer (see also FIGS. 1 and 3).
  • Detector 71 is followed by an analog-digital converter 72 which supplies to the control unit a digital value proportional to the peak value of the voltage coming from the windings placed on the slider of the cyclic transducer.
  • the ratio between the digital values at the output of converter 72 relative to the voltages coming from the two windings of the slider of the cyclic transducer is independent of the gain of the amplification and conversion channel. This makes the system quite economical because it is not necessary to use precision amplifiers, as the reading precision of the transducer is dependent, not on the absolute values, but simply on the ratio between the signals coming from the two windings of the slider.
  • the discrimination of the absolute transducer is chosen equal to 1/2 cycle of the cyclic transducer.
  • the relative error of alignment and of reading between the two transducers must simply be less than 1/2 cycle of the cyclic transducer.
  • the two transducers (FIG. 3) are photo-engraved on the same conductive layer glued on a single steel tape.
  • the two conductive layers relating to the two transducers may be placed on opposite faces of the steel tape, or the absolute transducer may be constructed entirely by itself and joined to a cyclic transducer of known type only when taken into use.
  • the scale will be formed by the following superposed layers: Base material, typically steel; insulation and adhesive; conductive layer, typically in the form of a copper foil with the winding of the scale photo-engraved; insulation and adhesive; conductive layer of non-magnetic material, typically copper with the absolute transducer photo-engraved as described before.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
US06/125,432 1977-05-18 1980-02-28 Absolute precision transducer for linear or angular position measurements Expired - Lifetime US4504832A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT68123/77A IT1111425B (it) 1977-05-18 1977-05-18 Trasduttore assoluto di precisione per misure di posizioni lineari od angolari
IT68123A/77 1977-05-18

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US05905661 Continuation 1978-05-15

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US4504832A true US4504832A (en) 1985-03-12

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US06/125,432 Expired - Lifetime US4504832A (en) 1977-05-18 1980-02-28 Absolute precision transducer for linear or angular position measurements

Country Status (15)

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US (1) US4504832A (fr)
JP (1) JPS53143348A (fr)
AU (1) AU524646B2 (fr)
BR (1) BR7803124A (fr)
CA (1) CA1136238A (fr)
CH (1) CH623412A5 (fr)
DE (1) DE2817544A1 (fr)
FR (1) FR2391451A1 (fr)
GB (1) GB1595127A (fr)
IT (1) IT1111425B (fr)
MX (1) MX149962A (fr)
NL (1) NL188541C (fr)
NO (1) NO151172C (fr)
SE (1) SE426989B (fr)
SU (1) SU759059A3 (fr)

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DE3635442A1 (de) * 1985-10-17 1987-04-30 Toshiba Machine Co Ltd Verfahren und vorrichtung zum korrigieren von totgang
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US4794393A (en) * 1986-08-22 1988-12-27 Imran Mir A Device for measuring parameters on electrocardiogram strip recordings
US4795955A (en) * 1985-10-17 1989-01-03 Toshiba Kikai Kabushiki Kaisha Position control apparatus
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US4893077A (en) * 1987-05-28 1990-01-09 Auchterlonie Richard C Absolute position sensor having multi-layer windings of different pitches providing respective indications of phase proportional to displacement
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US5115195A (en) * 1991-01-22 1992-05-19 Mts Systems Corporation System and method for measuring the absolute position of one body which is constrained to move with respect to another body
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WO2011143594A3 (fr) * 2010-05-14 2012-03-15 Tyco Electronic Corporation Système et procédé pour détecter les emplacements de touchers sur un capteur tactile
US8570028B2 (en) 2007-05-10 2013-10-29 Cambridge Integrated Circuits Limited Transducer for a position sensor
CN104515464A (zh) * 2013-10-03 2015-04-15 上海球栅测量系统有限公司 一种位移测量系统和装置
CN104515463A (zh) * 2013-10-03 2015-04-15 上海雷尼威尔技术有限公司 一种位移测量系统和装置
US9410791B2 (en) 2010-12-24 2016-08-09 Cambridge Integrated Circuits Limited Position sensing transducer
US9470505B2 (en) 2012-06-13 2016-10-18 Cambridge Integrated Circuits Limited Position sensing transducer
US9727175B2 (en) 2010-05-14 2017-08-08 Elo Touch Solutions, Inc. System and method for detecting locations of touches on a projected capacitive touch sensor
WO2021219553A1 (fr) * 2020-04-30 2021-11-04 Pleiger Maschinenbau Gmbh & Co. Kg Dispositif de détection de position destiné à des entraînements hydrauliques ou électro-hydrauliques, et entraînement doté d'un moyen de détection de position
RU2805718C1 (ru) * 2020-04-30 2023-10-23 Пляйгер Машиненбау Гмбх Унд Ко. Кг Устройство для определения положения в гидравлических или электрогидравлических приводах и привод со средством определения положения

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CN113884702B (zh) * 2021-10-18 2023-09-26 兰州空间技术物理研究所 一种提高静电悬浮加速度计标度因数一致性的设计方法

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NO781717L (no) 1978-11-21
AU524646B2 (en) 1982-09-30
CH623412A5 (en) 1981-05-29
FR2391451A1 (fr) 1978-12-15
GB1595127A (en) 1981-08-05
NL7805353A (nl) 1978-11-21
SE7805231L (sv) 1978-11-19
IT1111425B (it) 1986-01-13
NL188541C (nl) 1992-07-16
NO151172B (no) 1984-11-12
FR2391451B1 (fr) 1983-08-26
DE2817544C2 (fr) 1989-08-17
CA1136238A (fr) 1982-11-23
AU3606978A (en) 1979-11-15
SU759059A3 (ru) 1980-08-23
SE426989B (sv) 1983-02-21
MX149962A (es) 1984-02-21
JPS53143348A (en) 1978-12-13
DE2817544A1 (de) 1978-11-23
NL188541B (nl) 1992-02-17
BR7803124A (pt) 1979-02-20
NO151172C (no) 1985-02-20

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